From 4abd8988e459f03d1c742be0a0081c4c2ad6f2fb Mon Sep 17 00:00:00 2001
From: iejMac <61431446+iejMac@users.noreply.github.com>
Date: Thu, 22 Apr 2021 22:13:32 -0700
Subject: [PATCH] cereal: SubMaster refactor, update is now void (#20730)

* cereal: SubMaster refactor, update is now void

* bump cereal

* mistake

* update void

* checks

* semicolon

* Update selfdrive/camerad/cameras/camera_frame_stream.cc

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* check sensorEvent

* update cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 4866a39244c59f540895ad64103e13f7c41a3cc8
---
 cereal                                        |  2 +-
 .../camerad/cameras/camera_frame_stream.cc    | 39 ++++++++++---------
 selfdrive/camerad/cameras/camera_qcom.cc      |  3 +-
 selfdrive/modeld/modeld.cc                    | 13 +++----
 selfdrive/sensord/sensors_qcom.cc             |  3 +-
 5 files changed, 31 insertions(+), 29 deletions(-)

diff --git a/cereal b/cereal
index 9c56c531c6..8e5eb3ba4d 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 9c56c531c6b1c6dbf6d22377fbb2eb75309d1e91
+Subproject commit 8e5eb3ba4db9975e3370f3e4f5e60c0e7b73d078
diff --git a/selfdrive/camerad/cameras/camera_frame_stream.cc b/selfdrive/camerad/cameras/camera_frame_stream.cc
index 443461edf1..55de33874b 100644
--- a/selfdrive/camerad/cameras/camera_frame_stream.cc
+++ b/selfdrive/camerad/cameras/camera_frame_stream.cc
@@ -49,25 +49,26 @@ void run_frame_stream(CameraState &camera, const char* frame_pkt) {
 
   size_t buf_idx = 0;
   while (!do_exit) {
-    if (sm.update(1000) == 0) continue;
-
-    auto msg = static_cast<capnp::DynamicStruct::Reader>(sm[frame_pkt]);
-    auto frame = msg.get(frame_pkt).as<capnp::DynamicStruct>();
-    camera.buf.camera_bufs_metadata[buf_idx] = {
-      .frame_id = frame.get("frameId").as<uint32_t>(),
-      .timestamp_eof = frame.get("timestampEof").as<uint64_t>(),
-      .frame_length = frame.get("frameLength").as<unsigned>(),
-      .integ_lines = frame.get("integLines").as<unsigned>(),
-      .global_gain = frame.get("globalGain").as<unsigned>(),
-    };
-
-    cl_command_queue q = camera.buf.camera_bufs[buf_idx].copy_q;
-    cl_mem yuv_cl = camera.buf.camera_bufs[buf_idx].buf_cl;
-
-    auto image = frame.get("image").as<capnp::Data>();
-    clEnqueueWriteBuffer(q, yuv_cl, CL_TRUE, 0, image.size(), image.begin(), 0, NULL, NULL);
-    camera.buf.queue(buf_idx);
-    buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;
+    sm.update(1000);
+    if(sm.updated(frame_pkt)){
+      auto msg = static_cast<capnp::DynamicStruct::Reader>(sm[frame_pkt]);
+      auto frame = msg.get(frame_pkt).as<capnp::DynamicStruct>();
+      camera.buf.camera_bufs_metadata[buf_idx] = {
+        .frame_id = frame.get("frameId").as<uint32_t>(),
+        .timestamp_eof = frame.get("timestampEof").as<uint64_t>(),
+        .frame_length = frame.get("frameLength").as<unsigned>(),
+        .integ_lines = frame.get("integLines").as<unsigned>(),
+        .global_gain = frame.get("globalGain").as<unsigned>(),
+      };
+
+      cl_command_queue q = camera.buf.camera_bufs[buf_idx].copy_q;
+      cl_mem yuv_cl = camera.buf.camera_bufs[buf_idx].buf_cl;
+
+      auto image = frame.get("image").as<capnp::Data>();
+      clEnqueueWriteBuffer(q, yuv_cl, CL_TRUE, 0, image.size(), image.begin(), 0, NULL, NULL);
+      camera.buf.queue(buf_idx);
+      buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;
+    }
   }
 }
 
diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
index f47942ffac..3b41d70d47 100644
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -850,7 +850,8 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
 }
 
 static std::optional<float> get_accel_z(SubMaster *sm) {
-  if (sm->update(0) > 0) {
+  sm->update(0);
+  if(sm->updated("sensorEvents")){
     for (auto event : (*sm)["sensorEvents"].getSensorEvents()) {
       if (event.which() == cereal::SensorEventData::ACCELERATION) {
         if (auto v = event.getAcceleration().getV(); v.size() >= 3)
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index bfa5e8c362..788024b1fd 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -40,8 +40,8 @@ void calibration_thread(bool wide_camera) {
   const mat3 yuv_transform = get_model_yuv_transform();
 
   while (!do_exit) {
-    if (sm.update(100) > 0){
-
+    sm.update(100);
+    if(sm.updated("liveCalibration")){
       auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
       Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
       for (int i = 0; i < 4*3; i++){
@@ -90,11 +90,10 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
     const bool run_model_this_iter = live_calib_seen;
     transform_lock.unlock();
 
-    if (sm.update(0) > 0) {
-      // TODO: path planner timeout?
-      desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
-      frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
-    }
+    // TODO: path planner timeout?
+    sm.update(0);
+    desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
+    frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
 
     if (run_model_this_iter) {
       run_count++;
diff --git a/selfdrive/sensord/sensors_qcom.cc b/selfdrive/sensord/sensors_qcom.cc
index 77e670d3f4..b46c232dc6 100644
--- a/selfdrive/sensord/sensors_qcom.cc
+++ b/selfdrive/sensord/sensors_qcom.cc
@@ -197,7 +197,8 @@ void sensor_loop() {
       }
 
       // Check whether to go into low power mode at 5Hz
-      if (frame % 20 == 0 && sm.update(0) > 0) {
+      if (frame % 20 == 0) {
+        sm.update(0);
         bool offroad = !sm["deviceState"].getDeviceState().getStarted();
         if (low_power_mode != offroad) {
           for (auto &s : sensors) {